Foundation construction machine and method for controlling such machine

ABSTRACT

A foundation construction machine includes a tracked undercarriage, an upper structure mechanically connected to the tracked undercarriage, and a mast, whereon an operating equipment mounts for drilling. A kinematic mechanism mechanically connects the mast to the upper structure, and is configured for varying distance between them. A control station is used by an operator for issuing commands to control the foundation construction machine, and to display and/or input information about operation. A control system operationally connects to the control station and controls and drives the foundation construction machine as a function of operator commands. The control system includes a memory unit storing a data archive containing maximum values of the pressure generated by the machine on the soil, as a function of corresponding data. The data includes setup data representing possible setups; geometric configuration data representing possible geometric configurations; and working force data representing working forces acting upon the machine.

TECHNICAL FIELD

The present invention relates to a foundation construction machine and amethod for controlling such machine.

Such type of machine is typically configured for working the soil,generally in order to build structural foundation elements, e.g. pilesfor a new deep foundation or piles for propping up an existingfoundation or the support layer of a shallow foundation, or in order tomake retaining elements in the ground, e.g. earth retaining walls orwaterproofing bulkheads, or for soil consolidating purposes through theuse of appropriate injection and mixing techniques.

TECHNICAL BACKGROUND

Machines employed for building foundations are generally called“foundation construction machines”. They are typically used in abuilding yard environment and comprise a base machine, a mast or boomsupported by the base machine, and an operating equipment carried by themast. Such machines are typically controlled by means of commands, i.e.control signals, issued by an operator placed in a control station e.g.a cabin or a control board, or by an operator placed at a distance fromthe machine, e.g. using a radio control unit or a remote controlstation.

The base machine generally comprises an upper structure and aself-moving or mobile assembly mechanically connected to each other in afixed or, via a slewing ring, rotatable manner; the self-moving ormobile assembly, which is typically a tracked undercarriage, allows thefoundation construction machine to move on the ground and supports itthereon. The upper structure is generally provided with a structuralframe housing several components, e.g. a prime mover, typically a Dieselengine, supplying the necessary power to all the devices and thehydraulic and electric systems of the machine. The structural frame alsohouses one or more control units, typically PLCs, which, together withsuitable input/output modules, sensors, limit switches andelectromechanical devices, permit controlling the machine.

The mast (also called “boom” when, for example, it is derived from abase machine of a foundation construction crane) is commonly astructural element having a lattice or boxed construction and a longextension, even in excess of forty meters. Said mast is mechanicallyconnected to the frame on the side opposite to the ballast by means of akinematic mechanism or a pin hinge to make a traverse movement in orderto switch from a horizontal position to a substantially verticalposition and/or, whenever necessary, in order to change the workingradius of the machine. Furthermore, the mast performs the function ofmechanically supporting and also—in some types of foundationconstruction machines—guiding an operating equipment designed to workthe soil according to a given processing technology.

The upper structure and/or the mast and/or the kinematic mechanism alsohouse winches adapted to move the operating equipment by means of arope, typically driven by hydraulic gear motors and braked by overcentrevalves and mechanical brakes, and also ballast elements ensuring machinestability during the work. The winches may also have an electricallycontrolled drive, and therefore may be equipped with an electric motorimparting the rope winding/unwinding motion. The winches may also bedriven by a hydraulic unit combined with an electric command.

The foundation construction machines known in the art include theso-called “drilling machines”, wherein the operating equipmentcomprises, in particular consists of, interchangeable equipment and adrill or consolidation head or a driving head.

The interchangeable equipment may be, merely by way of example, adrilling tool (e.g. a bucket, a drill bit, a core sampler) mechanicallyconnected to telescopic rods called “kelly bars”, a single “continuousflight auger” or “soil displacement” drilling tool, or else it may beground consolidation equipment (e.g. of the “jet grouting”, “soilmixing”, “deep mixing”, “Turbojet”, “vibro compaction”, “stone column”,“bottom feed system” types). The operating equipment may also be avibro-drive equipment, e.g. a hammer or a vibrator, constituting a drivehead configured to impart ground driving motion to a structuralfoundation element (e.g. a sheet pile, a pipe, a metal section, etc.).

The drill head, also referred to as “rotary”, is mechanically connectedto the mast and can be guidedly made to translate along the mast bymeans of a rope driven by a winch installed on the upper structure or,as an alternative, by means of a hydraulic cylinder or a rack-type drivesystem. The drill head is mechanically connected to the interchangeableequipment in order to transfer thereto a rotary motion and a torque ofsuch intensity as to overcome the resistance of the soil and make ahole.

The interchangeable equipment may be mechanically associated with themast in a direct manner by means of a rope of a winch installed on theupper structure (or on the mast), which supports the interchangeableequipment on the pulleys installed at the top of the mast and moves theinterchangeable equipment relative to the mast along the longitudinaldirection of the hole. Alternatively, the interchangeable equipment maybe mechanically associated with the mast in an indirect manner, beingmoved by the drill head (in this case, for example, hydraulic cylindersor chain-type gear motor systems or winches equipped with ropes orpinion-rack systems, or the like, are used). The drive head may beassociated with the mast either directly or indirectly, and anadditional winch installed on the upper structure, called “servicewinch”, moves an auxiliary rope which, supported by additional pulleysinstalled at the top of the mast, can be used in order to movefoundation elements, such as reinforcement cages, near the hole beingmade.

Drilling machines also include the so-called “micropile and tunnelmachines”, i.e. small to medium size machines employed for makingfoundations, subfoundations, tie beams, anchors, borings orconsolidation works both outdoors (e.g. on a construction site) andindoors (e.g. in buildings, tunnels, etc.).

The foundation construction machines known in the art also include theso-called “diaphragm wall excavation machines”, wherein the operatingequipment may be, by way of example, a cutter module, i.e. a frame towhich rotary drums equipped with teeth and driven by gear motors areconnected in order to make the excavation. Alternatively, in saiddiaphragm wall excavation machines the operating equipment may be a grabmodule, i.e. a frame to which mobile clamshells are connected, which aremoved by a hydraulic cylinder in order to make the excavation.Furthermore, the operating equipment of a diaphragm wall excavationmachine may be a dynamic compaction mass or a drive head. Said operatingequipment may be mechanically connected in a direct manner along themast, in which case they preferably exert a thrust force thatfacilitates soil penetration, or may be simply suspended by gravity fromthe mast head by means of a rope in order to work the soil in asubstantially vertical direction. In any case, in all known types offoundation construction machines, the operating equipment ismechanically associated with the mast in a direct manner to be movedrelative to the mast along the longitudinal direction of the excavationto be made in the soil. From the examples described herein, a personskilled in the art will understand that the definition of foundationconstruction machine may comprise not only those machine types mentionedabove merely by way of non-limiting example, but also other machinetypes (e.g. also those typically included in the EN16228:2014 productstandard series).

In drilling and/or diaphragm wall excavation machines typically equippedwith a tracked undercarriage whereon the upper structure is mechanicallyconnected, whether fixedly or rotatably, it is necessary to ensuremachine stability in order to prevent the machine from overturning: tothis end, as specified, for example, in the EN16228-1:2014 standard,stability verification calculations are made during the designing phase(i.e. calculations verifying that the angle of inclination that willbring the machine into an unstable condition is greater than a valuespecified in the standards) and soil pressure calculations (i.e.calculations of the value and under-track distribution of the pressureexerted by the machine on the soil) in all possible configurations interms of loads and machine geometry, and the results of suchcalculations are reported in the operator manual; in addition, themachine is fitted with limit switches that limit the possibility ofmovement of parts of the machine to admissible values for stability.When a foundation construction machine turns over in a building yard,this is mainly caused by a reduced bearing capacity of the workingplatform on which the machine lies, i.e. the layer of compacted and/orreinforced soil that supports the machine, in comparison with the loadstransmitted to the platform by the machine. When the platform is notproperly compacted and/or reinforced, local subsidence first occurs, andthen the machine will start tilting, until the straight line of actionof the resultant of all forces acting upon the machine parts (e.g. suchforces are the weights of parts and equipment, drilling/excavationforces (while working), centrifugal forces due to rotation of the upperstructure, inertia, dynamic actions, wind, etc) exits the perimeterwithin which the tracked undercarriage rests on the ground, inparticular moves past a machine overturning line, so that theoverturning motion will become uncontrollable.

If one wanted to modify the foundation construction machine to preventthe pressure generated by it on the ground from exceeding a specificallowable limit value, which value is specific of the working platformwhereon the machine lies, and is therefore typically variable dependingon the conditions of the soil and/or the type of working platform inuse, action could be taken by changing at least one of the threecharacteristic parameters: the first one is the machine setup, anotherone is the geometric configuration of the machine, and the last oneconsists of modifying the type and maximum intensity of the workingforces and loads acting upon the machine.

The adopted setup may simply concern any part of the machine thataffects the weight thereof and/or the position of its centre of gravity.As a non-limiting example of setup modifications, lighter or heaviermachine parts can be selected, such as: the drill head (asaforementioned, also referred to as “rotary”), the “kelly” bars, themast (which, as previously mentioned, may have a variable length and maybe fitted with boxed or lattice extensions), the head at the top of themast, the mast supporting foot, the working tools (screws, drill bits,casings, etc.) and the ballast (which may either be reduced, in order tolower the weight thereof and reduce the maximum value of the pressuredistribution on the ground, or increased, in order to reduce theeccentricity of the centre of gravity and improve the uniformity of thespatial distribution of the pressure under the tracks of theundercarriage, compared with a typically triangular distribution).

The main parameters of the geometric configuration of the machine thatmostly affect its stability in operation and the pressure generated onthe soil comprise: the working radius of the tool (i.e. the “overhang”of the tool from the base machine, particularly relative to the frontand lateral overturning lines defined by the undercarriage and/or bystabilizers or by the mast supporting foot, if present) and the angle ofrotation of the upper structure relative to the undercarriage, if theupper structure is a rotary one. Especially in micropile and tunnelmachines, further geometric parameters affecting stability and soilpressure include the lateral tilting angle of the mast (i.e. theinclination of the mast about a longitudinal axis of the machine) and,in general, any controllable degree of freedom of the kinematicmechanism connecting the mast to the base machine. In drilling machines,the working radius of the tool is typically changed by actuating, bymeans of a jack, a kinematic mechanism (e.g. a parallelogram mechanism)that mechanically connects the upper structure to the mast; or indiaphragm wall excavation machines, this is achieved by causing themast, by means of a winch, to make a traverse movement. The angle ofrotation of the upper structure relative to the undercarriage can simplybe adjusted by controlling a slewing ring via one or more gear motors.Likewise, the lateral tilting angle of the mast and the degrees offreedom of the kinematic mechanism can preferably be modified by meansof hydraulic cylinders and/or a slewing ring and gear motor pair.

The maximum value of the working forces acting upon the machine, i.e.the forces originated during the drilling/excavation process (e.g. thedrilling torque of the drill head or the thrust or extraction forceacting upon the tool), can be controlled and reduced to decrease theresultant force that is transmitted to the soil by the machine. Merelyby way of example, the extraction force of a “continuous flight auger”(CFA) excavation tool is generally exerted according to a ratio ofmultiplication of the pulling force of a winch (e.g. x2 or x4, thusreaching values even in excess of 100 tons, and in many cases similar toor higher than the weight of the whole foundation construction machine),and therefore has a considerable impact on the intensity of the loadstransmitted to the soil by the machine, e.g. via the mast supportingfoot. Such forces and loads can be decreased and limited, for example,by means of the machine's control system, by limiting the value of theworking pressure of the hydraulic actuators or the value of the currentof the electric actuators, or by mechanically modifying themultiplication ratio, as in the above-described case. Other forcesacting upon the machine and not directly caused by the soil processingactivity, e.g. wind force or the centrifugal force generated during therotation of the upper structure, are considered as fixed valuesspecified in the product standards.

The stability of the machine and the pressure exerted by it on the soilalso depend on the operating condition in which the machine is (e.g.normal operation, transportation, manoeuvers, etc.), since its geometricconfiguration is different in the various operating conditions. Lastly,also ground slope has an impact on the value and distribution of thepressure generated by the machine on the soil, because such slopeaffects the relative position of the centre of gravity. In fact, theresultant weight force applied to the general centre of gravity of themachine always remains vertical, while the machine supporting planetakes the inclination of the ground.

In particular, a decisive factor affecting the stability of thefoundation construction machine and the pressure generated by it on thesoil consists of the overturning moments caused by the various forcesacting upon the machine parts (weights of the parts and external loads),i.e. the product of the intensity of the force and the distance of thepoint of application of such force from a line of possible overturningof the machine: for example, the overturning effect caused by the weightforce of the equipment in use is strongly affected by the product of thevalue of such weight (and also, in working conditions, the resultant ofthe applied loads) and the value of the current working radius of themachine.

The foundation construction machines known in the art suffer from a fewdrawbacks.

One of such drawbacks lies in the fact that in prior-art foundationconstruction machines it is not straightforward to modify theabove-described three characteristic parameters so that the maximumvalue of the pressure generated by the machine on the ground will notexceed a new allowable limit value, e.g. following the use of a workingplatform having different load-bearing capacity values.

SUMMARY OF THE INVENTION

It is therefore one object of the present invention to provide afoundation construction machine which can speed up and simplify themodification of characteristic parameters that affect the value andspatial distribution of the pressure generated by the foundationconstruction machine on the soil.

It is a further object to provide a method for modifying thecharacteristic parameters of a foundation construction machine.

According to the present invention, these and other objects are achievedby means of a foundation construction machine and a method having thetechnical features set out in the appended independent claims.

It is understood that the appended claims are an integral part of thetechnical teachings provided in the following detailed description ofthe present invention. In particular, the appended dependent claimsdefine some preferred embodiments of the present invention that includesome optional technical features.

The following will summarize some advantages that can be obtained fromsome favourable aspects and features of the present invention.

One advantage lies in the fact that no machine configuration can becreated wherein the value of the pressure exerted on the soil may becomecritical for the working platform whereon the machine will have to work.

Another advantage lies in the fact that the invention simplifies theselection of that setup modification which will provide the mosteffective and fastest reduction of the soil pressure values.

A further advantage lies in the fact that the determination of the soilpressure values is verified and certain.

The invention also offers the advantage of making it easier to ascertainwhich one of the three parameters (machine setup, geometricconfiguration of the machine, and maximum intensity of the workingforces and loads acting upon the machine) will provide the best andoptimal reduction of the soil pressure value.

Further features and advantages of the present invention will becomeapparent in light of the following detailed description, provided hereinmerely as a non-limiting example and referring, in particular, to theannexed drawings as summarized below.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of a foundation construction machine obtained inaccordance with an exemplary embodiment of the present invention.

FIG. 2 is a block diagram referring to a control station and a controlsystem applicable to the foundation construction machine shown in FIG. 1.

FIG. 3 is a block diagram referring to a method applicable to thefoundation construction machine represented in the preceding figures.

DETAILED DESCRIPTION OF THE INVENTION

With reference to FIG. 1 , there is shown a foundation constructionmachine, designated as a whole as 1, made in accordance with anexemplary embodiment of the present invention.

Foundation construction machine 1 comprises a tracked undercarriage 2configured for moving on the soil, thus moving the rest of saidfoundation construction machine 1, and configured for withstanding theforces and loads acting upon the rest of foundation construction machine1 and for transmitting them to soil S whereon the machine lies, i.e. tothe working platform.

Foundation construction machine 1 also comprises an upper structure 3mechanically connected, in a rotatable manner, to tracked undercarriage2, in particular supported by the latter. Typically, upper structure 3is mechanically connected, in a rotatable manner, to trackedundercarriage 2 by means of a slewing ring, not shown in the drawing,driven by a gear motor, for rotating upper structure 3 relative totracked undercarriage 2 about an axis of rotation R of the slewing ringitself.

Furthermore, foundation construction machine 1 comprises a mast or boom4 mechanically connected to upper structure 3.

Foundation construction machine 1 further comprises a kinematicmechanism 6 that connects mast 4 to upper structure 3. Kinematicmechanism 6 is configured for varying the distance between mast 4 andupper structure 3, in particular for changing the working radius of themachine.

Moreover, foundation construction machine 1 comprises an operatingequipment 5 configured to be mounted on mast 4 and adapted to drill thesoil.

In the embodiment illustrated in FIG. 1 , kinematic mechanism 6 showntherein is typically an articulated parallelogram, but it mayalternatively be, for example, a telescopic (or extensible) connectionor a pin-type connection. Such kinematic mechanism 6 is driven by atleast one actuator for varying the working radius of foundationconstruction machine 1, i.e. for moving mast 4 in such a way as tochange the “overhang” distance of the tool from upper structure 3.

Foundation construction machine 1 comprises a control station 7, inparticular a cabin mechanically connected to upper structure 3. Controlstation 7 is operationally connected to a control system 8 of themachine, and is configured to be used by an operator, in particular toaccommodate an operator, so that, from there, the latter can issuecommands aimed at controlling foundation construction machine 1 anddisplay and/or input information about the operation of foundationconstruction machine 1. In particular, control station 7 comprisescontrol devices 10, such as joysticks and/or control panels and/orpedals and/or levers and/or touchscreen displays and/or push-buttonsand/or potentiometers, which are physically operated by the machineoperator in order to control the movements of the machine and displayand/or input information about the operation of the machine.

In the embodiment illustrated in FIG. 1 , foundation constructionmachine 1 is, in particular, a so-called “drilling machine” configuredfor drilling the soil for building foundation piles, but it maynevertheless be any other foundation construction machine among thosepreviously described herein. In this regard, for brevity's sake,reference should be made to the description of the background artrelevant to the present invention.

As aforementioned, foundation construction machine 1 shown in theexemplary embodiment of FIG. 1 is equipped with control system 8, whichis configured for controlling and driving the rest of the machine andcomprises, for example, an electronic processing system 9, typically aPLC, in particular mechanically installed on upper structure 3.Alternatively, control system 8 of foundation construction machine 1 (orat least a part of said control system 8) may not be physicallyinstalled in the machine, but in a remote location, e.g. it may operateon cloud.

With reference to FIG. 2 , control system 8, particularly electronicprocessing system 9, comprises at least one memory unit 11 in which adata archive, e.g. a database, is stored. Although reference will bemade to a database in the following description, it is understood thatany type of data archive may be profitably employed in foundationconstruction machine 1 of the present invention, e.g. data tables and/ormaps.

In particular, the data archive or database contains at least themaximum values of the pressure distribution generated by the machine onsoil S as a function of (i.e. depending on) the above-described threecharacteristic parameters, i.e. setup, geometric configuration andworking forces acting upon the machine.

According to the embodiment illustrated herein, the data archivecontains maximum pressure data representative of the maximum values ofthe pressure generated by the machine on the soil; such maximum pressuredata are determined as a function of corresponding: setup datarepresentative of the possible setups of the machine, geometricconfiguration data representative of the possible geometricconfigurations of the machine, and working force data representative ofthe working forces acting upon the machine. In other words, according toone embodiment of the present invention, said data archive or databasecorrelates the maximum values of the pressure generated by the machineon soil S with the characteristic parameters of the machine's setup, themachine's geometric configuration and the working forces acting upon themachine. For brevity's sake, as regards such characteristic parametersreference should be made to the above description of the background artassociated with the present invention.

By way of non-limiting example, the geometric configuration datacomprise the working radius of operating equipment 5 and/or the angle ofrotation of upper structure 3 relative to undercarriage 2. When upperstructure 3 is mounted rotatable relative to undercarriage 2 about axisof rotation R, the working radius is defined by the distance between theaxis of rotation and operating equipment 5, while the angle of rotationis defined between upper structure 3 and undercarriage 2 in a planesubstantially orthogonal to the axis of rotation R.

Still by way of non-limiting example, the setup data comprise, forexample, the adopted tool type and/or the length of mast 4 and/or theweight of the installed ballast.

Still by way of non-limiting example, the working force data comprise,for example, the maximum value of the drilling torque and/or the maximumvalue of the extraction force acting upon the tool.

In particular, such maximum pressure data are preloaded in the databasecontained in the above-mentioned memory unit 11, i.e. such maximumpressure data are loaded before foundation construction machine 1 isactually used on a construction site by the operator and, preferably,also before it is transported and delivered to the customer.

While using the foundation construction machine on a construction site,the machine operator can easily access the data contained in thedatabase by means of one or more of the above-described control devices10, preferably a control panel installed in control station 7 (inparticular, the cabin), e.g. a touchscreen display, and display them ona display installed in control station 7, possibly the same touchscreendisplay.

The maximum pressure data preloaded in the database are preferablyrepresentative of values measured during a preliminary machinecalibration phase, i.e. values obtained by using suitable sensorspositioned under the tracks of undercarriage 2, possibly buried in thesoil at an appropriate depth underneath the tracks, or by using anchorpoints suitably arranged in a test area, through which it is possible tosimulate operating conditions and exert maximum working forces. Forexample, measurements of the pressure generated by the machine accordingto its setup, its geometric configuration and the working forces can betaken during a calibration phase before the machine is put in operationon a construction site, so that it will already have the valuespreloaded in the database. In particular, such measurements may be takenby the machine manufacturer during the calibration phase by executing aspecific test with variable operating parameters.

Optionally, foundation construction machine 1 may automatically preloadthe measured maximum pressure values into the data archive. In otherwords, the sensors used for measuring the maximum pressure data may beoperatively connected to machine's control system 8 and transfer themeasured values to electronic processing system 9 substantially in realtime, so that said electronic processing system 9 will store them intoits own database during the measurement phase. As an alternative, themeasured values may be preloaded manually.

As an alternative or in addition to the above, the maximum pressure datapreloaded in the database are representative of calculated values, i.e.values obtained by using suitable formulae instead of sensors, e.g.calculated by means of formulae specified in the reference technicalstandards, and then manually preloaded into the database.

Advantageously, but not necessarily, the maximum pressure data arecalculated according to a plurality of different calculation methods orcriteria. In particular, each one of such calculation methods orcriteria may use a different formula, e.g. obtained from a respectivereference technical standard. Each one of such calculation methods orcriteria produces a respective data table and/or map, which is storedinto said data archive or database; therefore, in this case, the dataarchive will contain a plurality of data tables and/or maps obtained byapplying the above-mentioned plurality of different calculation methodsor criteria. Moreover, when foundation construction machine 1 is inoperation, control station 7 can preferably be used by the operator offoundation construction machine 1 for selecting the desired calculationmethod or criterion. As a result, electronic processing system 9 may beconfigured for interrogating the data archive and accessing therespective data table and/or map obtained according to theoperator-selected calculation method or criterion. For example, theoperator may select the desired calculation method or criterion by meansof the above-described control devices 10 (in particular, by interactingwith a graphic interface, such as a menu, a touchscreen display, or byoperating a mechanical push-button and/or selector). Furthermore, theselection of the desired calculation method or criterion may occur underthe protection of physical security means, such as a key, and/orcomputer security means, e.g. authentication by username and password.

It will therefore be appreciated that the maximum pressure data may bepreloaded into the database, in particular in accordance with any one ofthe following options: according to one option, only the maximumpressure data obtained by measurement are preloaded; according toanother option, only the maximum pressure data obtained by calculationare preloaded; according to yet another option, the maximum pressuredata obtained by measurement and by calculation may both be preloaded,e.g. so that they can be compared.

Optionally, if the pressure generated by the machine on the soil ismeasured during the calibration phase by using a plurality of sensorsarranged under and along each track of undercarriage 2 and/or if it iscalculated by using suitable formulae, it is also possible to determinethe maximum pressure data and the pressure distribution data and thenpreload them into the database. Irrespective of the type of preloadedsoil pressure values, each one of the maximum pressure data and/or eachone of the pressure distribution data is always associated in thedatabase with corresponding data representative of the setup, datarepresentative of the working forces and data representative of thegeometric configuration that originated such determined maximum pressuredata and/or pressure distribution data.

Merely by way of example, in foundation construction machine 1 of thepresent invention the operator can manually enter into electronicprocessing system 9, by selection and/or input via one or more of theabove-described control devices 10, actual setup data representative ofthe setup actually adopted by foundation construction machine 1 (e.g.the weight of the tool and/or ballast in use) and allowable pressurelimit values representative of the maximum pressure that can be exertedby the machine on the soil whereon it lies, in particular specific forthe working platform in use.

Optionally, it is additionally possible to enter data representative ofthe minimum pressure that must necessarily be always exerted by themachine on the soil whereon it lies.

As an alternative or in addition to the above, the actual setup datarepresentative of the machine's setup may be automatically inputted to(or entered into) electronic processing system 9 and, in particular, maybe detected automatically through the use of one or more sensorsinstalled on machine 1. For example, foundation construction machine 1may be equipped with a proximity sensor detecting the presence orabsence of an auxiliary ballast or a mast extension, or may be equippedwith a load cell detecting the weight of the installed operatingequipment.

In particular, electronic processing system 9 interrogates the datapreloaded in its own database and outputs all the admissiblecombinations, among the preloaded (i.e. measured and/or calculated)ones, of geometrical configuration data and working force data thatcorrespond to maximum pressure data contained in the data archive (inparticular, preloaded therein). In the admissible combinations, themaximum pressure data are smaller than or equal to the allowablepressure limit value data. In other words, the maximum pressure datacoincide with, or are lower than, the allowable pressure limit valuedata specific for the working platform in use, thus ensuring a certainsafety coefficient.

Electronic processing system 9 can show said admissible combinations tothe operator, whether in numerical and/or graphical form, e.g. by meansof a display installed in control station 7, e.g. in the cabin. Inparticular, electronic processing system 9 can show one or moretwo-dimensional tables containing the allowable values of the geometricconfiguration data (e.g. working radius of operating equipment 5 and/orangle of rotation of upper structure 3 relative to undercarriage 2) forcertain allowable values of the working forces. Advantageously, theoperator can select a predefined and limited number of parameters whosevalues may vary and, based on such variable values only, determine thecorresponding preloaded (i.e. measured and/or calculated) maximumpressures. If the number of such parameters does not exceed three, soilpressures can be shown in graphic form. As an alternative or inaddition, such admissible combinations may be shown on the display viaone or more three-dimensional graphs, each one representing, by means ofa surface, the allowable values of the working radius for differentvalues of the maximum intensity of a given working force and of theangle of rotation of the upper structure. Also, such admissiblecombinations may be shown on the display via a representationexemplifying a top view of the foundation construction machine, aroundwhich the trend of the maximum allowable value of the working radiusthroughout the 360° degrees of rotation of the upper structure isindicated, e.g. by one or more lines, for different values of themaximum intensity of a given working force. Furthermore, the display mayshow a two-dimensional graph with the preloaded soil pressure values,possibly compared with the allowable pressure limit value entered by theoperator, and a pull-down menu through which the operator canintuitively and quickly select the allowable values of the parametersthat affect soil pressure, so as to facilitate and simplify the choiceof the best values of such parameters.

Preferably, control system 8 is configured for selecting and outputtingsaid admissible combinations when the latter comply with one or moreuser-defined constraint conditions. In particular, electronic processingsystem 9 may adopt a number of selection criteria, e.g. priority and/oroptimization criteria, in order to return only a few of said admissiblecombinations, thus proposing only those admissible combinations whichmeet particular additional constraints that can be selectively set bythe operator. For example, such selection may be done considering also apredefined value of the working force data concerning a particular force(e.g. a predefined value of the maximum force that can be exerted bymeans of the maximum hydraulic force, or limited to a lower value inorder to reduce the pressure on the soil) and/or considering theexistence of a sufficient angle of stability and/or that the geometricconfiguration data are limited to a given range of parameter values(e.g. limited to the front configuration, without turning the upperstructure or without tilting the mast laterally) and/or considering onlythe most conservative values of the admissible combinations, limited toa given range of values of the geometric configuration data. Inaddition, the operator may select, via the control panel, one or moreparameters that must be considered as variable, and may also define arange within which the value of such parameters can change; in thiscase, electronic processing system 9 will only return those admissiblecombinations wherein those parameters which have been considered asvariable have mutually different values that fall within theoperator-defined range, while all other characteristic parameters have,for example, identical values.

Should one or more constraint (or selection) conditions set by theoperator not allow the selection of any admissible combinations amongthose preloaded in the database, electronic processing system 9 willpropose some alternative combinations that will still be admissible forthe maximum pressure data and/or the angle of stability of the machinealthough, for example, they minimize the error with respect to saidconstraint conditions, and will preferably indicate on the display theamount of such error for each one of said constraint conditions.

After viewing the admissible combinations, the operator can select acertain admissible combination, e.g. a certain value of the workingradius and a certain value of the maximum intensity of the toolextraction force, and view on the display the trend of the maximumpressure data, preloaded in the database, throughout the 360° ofrotation of the upper structure, possibly comparing such maximum valuewith the allowable pressure limit value data inputted or entered by theoperator. Optionally, it is also possible to display the data of theunder-track pressure distribution, preloaded in the database, for anyangle of rotation of the upper structure. If the operator has selectedone or more parameters to be considered as variable, the maximum soilpressure data and/or the pressure distribution data can be displayed fordifferent values of such parameters.

Preferably, both the maximum pressure data and the pressure distributiondata shown on the display are preloaded values obtained by measurement;if no measured values are present in the database, electronic processingsystem 9 will show the preloaded data obtained by calculation.Optionally, the maximum pressure data obtained by measurement and thepressure distribution data obtained by measurement shown on the displayare compared with the corresponding values obtained by calculation and,should they differ, such difference will be shown to the operator,possibly signalling it in different ways as its percent value increases.

Electronic processing system 9 may also determine, for any particularcombination of the above-described three characteristic parameters, theposition of the static and/or dynamic centre of gravity of the machine(i.e. the resultant position of the static centre of gravity only due tothe weights of the parts and/or the resultant position of the dynamiccentre of gravity due to both the weights of such parts and any otherexternal force acting upon the machine), obtaining it on the basis ofthe preloaded measured and/or calculated maximum pressure data values,and may show such position on the display both in digital numeric formand in graphic form. Furthermore, electronic processing system 9 mayalso determine the position of the static and/or dynamic centre ofgravity of the machine, for any particular combination of the threecharacteristic parameters, on the basis of the actual geometricconfiguration data and the actual setup data. By determining the staticand/or dynamic centre of gravity, it is possible to know how close theadmissible limit condition is, and then compare the maximum values withthe allowable ones and decide if the working condition is sufficientlysafe, even before putting the machine in operation.

Optionally, electronic processing system 9 may compare the position ofthe static and/or dynamic centre of gravity of the machine obtained fromthe preloaded values of the maximum pressure data with the correspondingposition obtained from the actual geometric configuration data and theactual setup data, for the purpose of comparing the two positions thusdetermined and return a signal to the operator should they differconsiderably. Moreover, electronic processing system 9 is alsoconfigured for determining the angle of stability of the machine both instatic conditions (i.e. the angle of stability of the machine when it isonly subject to the weights of its own parts) and in dynamic conditions(i.e. the angle of stability of the machine when it is subject to theweights of its own parts and to external forces) and for showing on thedisplay the value of such angle of stability both in digital numericform and in graphic form, possibly compared with the minimum valuespecified in the standards, issuing a signal when the value of the angleof stability approaches such minimum value.

Thanks to the information returned by electronic processing system 9 andshown on the display, the operator can rapidly and intuitively choosethe correct geometric configuration and maximum working force intensityfor processing the soil by using a given setup of foundationconstruction machine 1, so that the pressure generated by it on the soilwill not exceed a specific allowable limit value.

It should be understood that the case in which the operator enters theactual setup data is only a non-limiting example; as a matter of fact,the operator may, without distinction, enter into electronic processingsystem 9 data representative of any one of the above-described threecharacteristic parameters. For example, the operator may enter themaximum working force data or the actual geometric configuration datathat the machine should adopt, thereby obtaining, respectively, theallowable setup data to be complied with in order to remain below thespecific value of the allowable pressure limit value data with certaingeometric configurations. Or, alternatively, the operator will obtainthe allowable geometric configuration data to be complied with in orderto remain below the specific value of the allowable pressure limit valuedata with certain maximum working force data. In addition, the operatormay also enter into electronic processing system 9 data representativeof two of the above-described three characteristic parameters; forexample, he may enter the actual setup data and the maximum workingforce data, and obtain therefrom the allowable geometric configurationdata to be complied with in order to remain below the specific value ofthe allowable pressure limit value data. Alternatively, the operator mayenter the maximum working force data and the actual geometricconfiguration data, and obtain therefrom the allowable setup data thatthe machine will have to adopt. It should be understood that the datarepresentative of the characteristic parameters may also represent arange of values of such parameters; for example, it is possible to entera range of values of the angle of rotation of the upper structure,comprised between a maximum value and a minimum value, and electronicprocessing system 9 will return only those admissible combinations whichfall within that range of values.

In a first construction variant of foundation construction machine 1 ofthe present invention, the admissible combinations outputted byelectronic processing system 9—following the entry of the actual setupdata and/or the actual geometric configuration data and/or the maximumworking force data—are stored into electronic processing system 9,possibly upon confirmation requested to the operator through the displayinstalled in the cabin.

Preferably, foundation construction machine 1 comprises at least onesensor, operationally connected to control system 8 and installed onfoundation construction machine 1, which detects, whether directly orindirectly, the actual value of at least one parameter of the geometricconfiguration of the machine and sends to electronic processing system 9a signal representative of such actual value; for example, it may be asensor directly measuring the actual value of the working radius and/ora sensor directly measuring the actual value of the angle of rotation ofthe upper structure. As an alternative or in addition, said sensor mayindirectly detect the actual value of a parameter of the geometricconfiguration; for example, it may be a proximity sensor configured fordetecting when a movement of a part of the machine reaches a givenextension, or it may comprise a plurality of proximity sensorsconfigured for detecting the extension of the movement of a part in aplurality of intermediate positions taken by such part during itsmovement. Such proximity sensors are configured for sending a signal toelectronic processing system 9 when the corresponding movement of a partof the machine reaches a given extension, e.g. when the working radiusreaches a certain limit extension or when the rotation of the upperstructure reaches a certain limit angle. By way of example, the operatorinputs or enters the machine's actual setup data and selects the maximumworking force data that are representative of the maximum value of theintensity of the working forces; in this manner, while the machine is inoperation, electronic processing system 9 will compare the actual valuesof the geometric configuration of the operating machine with the maximumallowable values of the geometric configuration data referred to theselected maximum value of the working forces, and will have foundationconstruction machine 1 execute at least one predetermined function whenthe detected actual values of the geometric configuration are too close(below a predefined threshold value) to the maximum allowable values, sothat the actual value can never exceed the maximum allowable values.Such predetermined functions may be one or more functions selected from:emitting at least one audible and/or visual alarm signal, stopping atleast one motion of parts of the machine, activating at least one motionof parts of the machine, providing at least one recommendationconcerning a necessary change in the setup and/or geometricconfiguration and/or working forces, in particular aimed at maintaininga given safety coefficient or level as to the allowable pressure limitvalue and/or the stability of the machine.

Optionally, the operator may also enter or select in electronicprocessing system 9, via the control panel, maximum limit values for themain parameters of the geometric configuration that the machine mayassume in operation, e.g. maximum limit values of the working radius ofthe tool and of the angle of rotation of upper structure 3. Such maximumlimit values of the working radius and of the angle of rotation of upperstructure 3, are those values of foundation construction machine 1 whichthe operator does not intend to exceed in operation. In particular,entering such maximum limit values creates a range of values that can beused in operation; for example, if the operator enters a maximum limitvalue of 3 meters for the working radius, this means that foundationconstruction machine 1 may assume, in operation, any working radiusvalue between the minimum physically possible value and the maximumlimit value of 3 meters entered by the operator. Advantageously, thelimit values that can be set by the operator are selectable among thosevalues which can be detected, whether directly or indirectly, by controlsystem 8 of the machine by means of the sensors. As an alternative or inaddition, also minimum limit values of the main parameters of thegeometric configuration of the machine, i.e. values below which theoperator does not want to go in operation, can be entered or selected bythe operator. If the operator enters both a maximum limit value and aminimum limit value for one parameter of the geometric configuration,that parameter may assume, in operation, any value between such limitvalues entered by the operator. If the two limit values coincide, thensuch geometric configuration parameter will be a fixed value and controlsystem 8 will vary the other parameters only. In this case, theadmissible geometric configurations returned by electronic processingsystem 9 will be simultaneously limited by the limit values of thegeometric configuration entered by the operator and by the allowablepressure limit value.

In a second construction variant, foundation construction machine 1 alsocomprises, in addition to what has been described herein with referenceto the first variant, at least one sensor, operationally connected tocontrol system 8 and installed on foundation construction machine 1,which detects, whether directly or indirectly, the actual value of atleast one working force acting upon the machine, e.g. a load cellmounted at the top of mast 4. The operator only enters the machine'sactual setup data; in this manner, when the machine is in operation,electronic processing system 9 will compare the actual values of thegeometric configuration assumed by the machine in operation with themaximum allowable values of the geometric configuration referred to theactual value of the working forces, and will compare the actual value ofthe at least one working force with the maximum allowable value of suchforce referred to the actual values of the geometric configuration.Electronic processing system 9 will have foundation construction machine1 execute at least one of the previously described predeterminedfunctions when the actual values of the geometric configuration and/orthe actual value of at least one working force turn out to be too close(below a predefined threshold value) to the respective maximum allowablevalues, so that the actual values of the geometric configuration and/orthe actual values of the working forces can never exceed the respectivemaximum allowable values. In general, it will be appreciated that thesecond construction variant of foundation construction machine 1 of thepresent invention always comprises at least one sensor reading theactual value of at least one working force, while it may not comprise asensor reading the actual value of at least one parameter of thegeometric configuration of the machine.

In particular, control system 8 may be set with the maximum allowableforce values obtained from an admissible combination, so that theintensity of the force will never exceed such maximum values; forexample, machines equipped with electro-proportional systems havesettings that can be automatically entered by control system 8, or onelectro-hydraulic machines suggestions may be shown on a displayconcerning the settings that need to be made (e.g. adjustment of apressure relief valve of the hydraulic system). In this latter case, itwill be advantageous to monitor in real time the value of the actualhydraulic pressure of the drive outputting the force that needs to belimited, so as to constantly verify that the set value is not exceeded,in which case an alarm signal will be sent to the operator. As analternative or in addition, it is possible to determine the actual valueof at least one working force on the basis of the value of the actualhydraulic pressure, for the purpose of comparing the actual value thusdetermined with the actual value detected, whether directly orindirectly, by the at least one sensor, and sending an alarm signal tothe operator when the difference between such actual values exceeds apredefined threshold value.

Optionally, it is also possible to use sensors that measure thetensional state at specific points of undercarriage 2, so as to detectthe actual resultant loads acting upon the machine, e.g. strain gaugesarranged in proximity to the slewing ring that connects undercarriage 2to upper structure 3, or load cells arranged in proximity to pins thatconnect the tracks to undercarriage frame 2. In this case, controlsystem 8 can make a comparison between the actual resultant loads actingupon the machine and measured by the sensors arranged in proximity toundercarriage 2 and the resultant loads that should be acting upon themachine as calculated on the basis of the actual setup data entered bythe operator and of the measured actual values of the working forces. Ifthe comparison shows negligible differences, this means that the actualsetup data manually entered by the operator via the control panelcorrespond to the real setup adopted by the machine. If the differencesare substantial, i.e. greater than a predefined threshold value, thismeans that the actual setup data entered by the operator differ fromthose of the setup actually adopted, and the control system will issue asignal to warn the operator that some selected options and/or some inputdata are incorrect, requiring him to verify them again. Should theoperator confirm the correctness of the entered data, control system 8will issue a further signal to warn the operator that the properoperation of the sensors should be checked because the comparison hasshown substantial differences.

With particular reference to FIG. 3 , the present invention also relatesto a method for controlling a foundation construction machine 1; aspreviously described, foundation construction machine 1 comprises:

-   -   a tracked undercarriage 2 configured for moving on the soil,        thus also moving the rest of said foundation construction        machine 1, and configured for withstanding the forces and loads        acting upon foundation construction machine 1 and for        transmitting them to the soil whereon the machine lies;    -   an upper structure 3 mechanically connected to tracked        undercarriage 2;    -   a mast 4, whereon an operating equipment 5 is configured to be        mounted in order to drill the soil;    -   a kinematic mechanism 6 which mechanically connects said mast 4        to said upper structure 3 and which is configured for varying        the working radius of operating equipment 5;    -   a control station 7 configured to be used by an operator, so        that the latter can issue commands aimed at controlling the        foundation construction machine and display and/or input        information about the operation of the machine;    -   a control system 8 operationally connected to control station 7        and configured for controlling and driving foundation        construction machine 1 as a function of the commands issued by        the operator, and comprising at least one memory unit 11 in        which a data archive is stored.

Said method further comprises the following steps:

-   -   preloading into said data archive the maximum values of the        pressure generated by the machine on the soil, determined as a        function of corresponding setup data representative of the        possible setups of said machine, geometric configuration data        representative of the possible geometric configurations of said        machine, and working forces data representative of the working        forces acting upon said machine;    -   interrogating the data archive by means of control system 8; and    -   controlling and driving foundation construction machine 1, from        control station 7 and by means of control system 8, as a        function of the interrogation of the data archive.

Preferably, the method further comprises the step of entering intocontrol system 8, by an operator and by means of said control station 7,actual setup data representative of the setup adopted by the foundationconstruction machine, and maximum allowable pressure limit value datarepresentative of the maximum pressure that can be exerted on the soilwhereon the machine lies. The interrogation is carried out as a functionof the actual setup data and the maximum allowable pressure limit valuedata.

Even more preferably, the method further comprises the step ofoutputting, through control system 8, at least one admissiblecombination of the geometrical configuration data and/or working forcedata. Such at least one admissible combination is correlated withcorresponding preloaded maximum pressure data contained in the dataarchive, which are smaller than or equal to the entered allowablepressure limit value data.

Other functional and structural details of the method have already beendescribed above with reference to embodiments and construction variantsof foundation construction machine 1 and will not therefore be repeatedfor brevity's sake, but should be understood to be applicable to thepresent method without requiring any further description or explanation.

Of course, without prejudice to the principle of the invention, thevarious embodiments, construction variants and implementation detailsmay be extensively varied from those described and illustrated above byway of non-limiting example, without however departing from the scope ofthe invention as set out in the appended claims.

In particular, although the figures have been described with referenceto the working radius and the angle of rotation of the upper structure,it is likewise possible to take into account any other parameter of thegeometric configuration of the machine that affects its stability inoperation and the value of the pressure exerted on the soil (e.g. onemay consider any mast tilting angle and/or any degree of freedom of thekinematic mechanism of the machine). In fact, the mast may be tiltedlaterally, forward and/or backward to execute the necessary drillingoperations, and such angles of inclination may be either fixed orvariable according to specific conditions (e.g. when it is necessary toswitch from vertical drilling to a next translation with the mast tiltedbackward to improve the stability of the machine). In such cases,variations in these parameters may also be taken into account whendetermining the pressures exerted on the soil.

Likewise, those machines which are equipped with a fixed, as opposed torotary, upper structure may have a mast that can be traversed laterally;therefore, depending on the positions taken by the latter, it ispossible to determine the trend of the maximum pressure exerted on thesoil. Or, as is typically the case in tunnel machines, the mast may bemoved by rotary arms describing circles at the front, with the mast in asub-horizontal condition. By rotating the mast from a configurationcentred in the longitudinal plane of the machine to a configuration in alateral plane, the load applied to one of the two tracks will graduallyincrease while the load on the other track will decrease, and thereforealso in this case the condition of maximum pressure on the soil can bedetermined as a function of the variations occurring in this parameter.

Furthermore, the machines may have a control station 7 consisting of acabin fixed to upper structure 3, or they may have a remote controlstation 7 (drilling and/or positioning and/or translation control board)that an operator can use from the ground to control the machine whileremaining in a more visible and safer condition, depending on thecommands to be issued.

1. A foundation construction machine comprising: a tracked undercarriageconfigured for moving on soil and moving the foundation constructionmachine, and configured for withstanding forces and loads acting uponthe foundation construction machine and for transmitting the forces andloads to the soil whereon said machine lies; an upper structuremechanically connected to the tracked undercarriage; a mast, whereon anoperating equipment is configured to be mounted to drill the soil; akinematic mechanism which mechanically connects said mast to said upperstructure and which is configured for varying a distance between saidmast and said upper structure; a control station configured to be usedby an operator from said control station, for said operator to issuecommands aimed at controlling said foundation construction machine andfor said operator to display and/or input information about operation ofsaid machine; and a control system operationally connected to saidcontrol station and configured for controlling and driving thefoundation construction machine as a function of the commands issued bysaid operator, and comprising at least one memory unit in which a dataarchive is stored; said data archive containing at least maximumpressure data representative of maximum values of the pressure generatedby the machine on the soil: said maximum pressure data being determinedas a function of corresponding combinations of: setup datarepresentative of the possible setups of said machine, geometricconfiguration data representative of possible geometric configurationsof said machine, and working force data representative of working forcesacting upon said machine.
 2. The foundation construction machineaccording to claim 1, wherein said upper structure is rotatably mountedrelative to said undercarriage about an axis of rotation; said geometricconfiguration data comprising: a working radius defined by a distancebetween said axis of rotation and said operating equipment, and an angleof rotation defined between said upper structure and said undercarriagein a plane substantially orthogonal to said axis of rotation.
 3. Thefoundation construction machine according to claim 1, wherein said dataarchive contains pressure distribution data representative of values oflengthwise spatial distribution of pressure under the tracks of saidundercarriage; said pressure distribution data being determined as afunction of combinations of said setup data, said geometricconfiguration data and said working force data.
 4. The foundationconstruction machine according to claim 1, wherein said maximum pressuredata and/or said pressure distribution data are preloaded into said dataarchive.
 5. The foundation construction machine according to claim 1,wherein said maximum pressure data and/or said pressure distributiondata are representative of values measured during a machine calibrationphase.
 6. The foundation construction machine according to claim 1,wherein said maximum pressure data and/or said pressure distributiondata are representative of values calculated during a machinecalibration phase.
 7. The foundation construction machine according toclaim 1, wherein said maximum pressure data and/or said pressuredistribution data are representative of values calculated in accordancewith a plurality of different calculation methods or criteria, eachcalculation method or criterion providing a respective data table and/ormap that is stored into said data archive or database.
 8. The foundationconstruction machine according to claim 7, wherein said control stationis operable by said operator to select at least one desired calculationmethod or criterion, and said electronic processing system is configuredfor interrogating said data archive, accessing the respective data tableand/or map obtained in accordance with the calculation method orcriterion selected by said operator.
 9. The foundation constructionmachine according to claim 1, wherein said control system is configuredfor receiving as input allowable pressure limit value datarepresentative of the maximum pressure exerted by the machine on thesoil whereon said machine is lies, and at least one of the data selectedfrom the group including: actual setup data representative of the setupactually adopted by said foundation construction machine, and actualgeometric configuration data representative of the geometricconfiguration assumed by said foundation construction machine; andmaximum working force data representative of the maximum values of theworking forces acting upon the foundation construction machine.
 10. Thefoundation construction machine according to claim 9, wherein saidcontrol system is configured for interrogating said data archive andoutputting at least one admissible combination of said setup data and/orsaid geometric configuration data and/or said working force data said atleast one admissible combination being correlated with correspondingmaximum pressure data contained in said data archive, which are smallerthan or equal to said allowable pressure limit value data.
 11. Thefoundation construction machine according to claim 10, wherein saidcontrol system is configured for selecting and outputting said at leastone admissible combination when the at least one admissible combinationmeets at least one constraint condition set by said operator.
 12. Thefoundation construction machine according to claim 11, wherein saidcontrol system is configured for outputting at least one alternativeadmissible combination when said at least one admissible combinationdoes not meet said at least one constraint condition set by theoperator; said alternative admissible combination being correlated withcorresponding maximum pressure data, which are smaller than or equal tosaid allowable pressure limit value data.
 13. The foundationconstruction machine according to claim 10, wherein the control systemis further configured for displaying the values of the maximum pressuredata and/or pressure distribution data contained in said data archiveand corresponding to said at least one admissible combination.
 14. Thefoundation construction machine according to claim 13, wherein saidmaximum pressure data and/or said pressure distribution data arerepresentative of values measured during a machine calibration phase,wherein said maximum pressure data and/or said pressure distributiondata are representative of values calculated during a machinecalibration phase, and wherein said control system is configured forcomparing measured values and calculated values of said maximum pressuredata and/or said pressure distribution data.
 15. The foundationconstruction machine according to claim 10, wherein said control systemW is further configured for determining a position of the static and/ordynamic center of gravity of the machine, corresponding to said at leastone admissible combination.
 16. The foundation construction machineaccording to claim 15, wherein the control system is configured forcomparing: the position of the static and/or dynamic center of gravitycorresponding to said at least one admissible combination, determinedbased on the data contained in said data archive; and the position ofthe static and/or dynamic center of gravity determined based on saidactual geometric configuration data and said actual setup data receivedas input.
 17. The foundation construction machine according to claim 1,further comprising at least one sensor operationally connected to saidcontrol system and configured for detecting the actual value of at leastone parameter of said geometric configuration data of the foundationconstruction machine, said control system being further configured forcomparing said actual value of the geometric configuration with amaximum allowable value of said geometric configuration data, and forhaving the foundation construction machine execute at least onepredetermined function when a difference between said maximum allowablevalue and said actual value is below a predefined threshold value. 18.The foundation construction machine according to claim 1, furthercomprising at least one sensor operationally connected to said controlsystem and configured for detecting the actual value of at least oneworking force acting upon the foundation construction machine, saidcontrol system being further configured for comparing said actual valueof the at least one working force with a maximum allowable value of suchforce, and for having the foundation construction machine execute atleast one predetermined function when a difference between said maximumallowable value and said actual value is below a predefined thresholdvalue.
 19. The foundation construction machine according to claim 17,wherein said at least one predetermined function is selected from thegroup including the predetermined functions of: emitting at least oneaudible and/or visual alarm signal, stopping at least one motion ofparts of the machine, activating at least one motion of parts of themachine, providing at least one suggestion concerning a change in thesetup and/or the geometric configuration and/or the working forces. 20.The foundation construction machine according to claim 19, furthercomprising sensors detecting actual resultant loads acting upon themachine, said control system being further configured for making acomparison between the actual resultant loads measured by said sensorsand resultant loads calculated based on said actual setup data enteredby the operator and the measured actual values of the working forces.21. The foundation construction machine according to claim 20, whereinsaid sensors detecting the actual resultant loads acting upon themachine are located in proximity to the undercarriage.
 22. Thefoundation construction machine according to claim 21, wherein saidcontrol system is configured for emitting a signal for warning theoperator about the necessity of verifying entered data and/or properoperation of said sensors when said comparison between said measuredactual resultant loads and said calculated resultant loads shows adifference exceeding a predefined threshold value.
 23. The foundationconstruction machine according to claim 1, wherein said data archive isa database.
 24. A method for controlling a foundation constructionmachine; said foundation construction machine comprising: a trackedundercarriage configured for moving on the soil, thus also moving therest of said foundation construction machine, and configured forwithstanding forces and loads acting upon the foundation constructionmachine and for transmitting the forces and loads to the soil whereonsaid machine lies; an upper structure mechanically connected to thetracked undercarriage; a mast, whereon an operating equipment isconfigured to be mounted to drill the soil: a kinematic mechanism, whichmechanically connects said mast to said upper structure, and which isconfigured for varying a distance between said mast and said upperstructure; a control station configured to be used by an operator fromsaid control station, for said operator to issue commands aimed atcontrolling said foundation construction machine and for said operatorto display and/or input information about operation of the machine; acontrol system operationally connected to said control station andconfigured for controlling and driving the foundation constructionmachine as a function of the commands issued by said operator, andcomprising at least one memory unit in which a data archive is stored;wherein said method comprises the following steps: preloading into saiddata archive maximum values of the pressure generated by the machine onthe soil, determined as a function of corresponding setup datarepresentative of possible setups of said machine, geometricconfiguration data representative of possible geometric configurationsof said machine, and working forces data representative of workingforces acting upon said machine; interrogating said data archive by saidcontrol system; and controlling and driving said foundation constructionmachine, from said control station and by said control system, as afunction of said interrogation of said data archive.
 25. The methodaccording to claim 24, further comprising the step of entering into saidcontrol system, by an operator and by said control station, actual setupdata representative of the setup adopted by said foundation constructionmachine, and maximum allowable pressure limit value data representativeof the maximum pressure exerted on the soil whereon said machine lies;said interrogation being carried out as a function of said actual setupdata and said maximum allowable pressure limit value data.
 26. Themethod according to claim 25, further comprising the step of outputting,through said control system, at least one admissible combination of saidgeometric configuration data and/or said working force data; said atleast one admissible combination being correlated with correspondingpreloaded maximum pressure data contained in said data archive, whichare smaller than or equal to said entered allowable pressure limit valuedata.